autoware::prediction::History< FilterT, kNumOfStates, EventT > Class Template Reference

This class encapsulates a history of events used with EKF. More...

#include <history.hpp>

Classes
class	EkfStateUpdater
class	HistoryEntry

Public Member Functions
	History (FilterT &filter, const std::size_t max_history_size, const common::types::float32_t mahalanobis_threshold)
	Construct history from a filter pointer with a specific size. More...
void	emplace_event (const Timestamp &timestamp, const HistoryEntry &entry)
	Add an event to history. If it is added to the middle the following ones are automatically replayed on top of it. More...
bool	empty () const noexcept
	Check if the history is empty. More...
std::size_t	size () const noexcept
	Get size of history. More...
const Timestamp &	get_last_timestamp () const noexcept
	Get last timestamp in history. More...
const HistoryEntry &	get_last_event () const noexcept
	Get last event in history. More...
const FilterT &	get_filter () const noexcept
	Get the filter as a const ref. More...
FilterT &	get_filter () noexcept
	Get the filter. More...

Detailed Description

template<typename FilterT, std::int32_t kNumOfStates, typename ... EventT>
class autoware::prediction::History< FilterT, kNumOfStates, EventT >

This class encapsulates a history of events used with EKF.

        The class handles adding events to a history of a specified size. It models the
        behavior of a circular buffer, meaning that as new events come in, the oldest ones
        are removed. The events can be either measurement types or specific events like
        reset or prediction. Whenever an event is added to the middle of the history all the
        following events get rolled on top of this event to produce a new state.

Template Parameters

FilterT	Type of EKF filter used.
kNumOfStates	Dimensionality of the state in the filter.
EventT	A variadic template of all possible events.

Constructor & Destructor Documentation

History()

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

autoware::prediction::History< FilterT, kNumOfStates, EventT >::History ( FilterT &  filter, const std::size_t  max_history_size, const common::types::float32_t  mahalanobis_threshold  )

inlineexplicit

Construct history from a filter pointer with a specific size.

Parameters

	filter	The filter pointer to be used internally.
[in]	max_history_size	The maximum history size.
[in]	mahalanobis_threshold	The mahalanobis threshold

Member Function Documentation

emplace_event()

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

void autoware::prediction::History< FilterT, kNumOfStates, EventT >::emplace_event	(	const Timestamp &	timestamp,
		const HistoryEntry &	entry
	)

Add an event to history. If it is added to the middle the following ones are automatically replayed on top of it.

Parameters

[in]	timestamp	The timestamp of the event.
[in]	entry	The entry to be added to history.

empty()

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

bool autoware::prediction::History< FilterT, kNumOfStates, EventT >::empty ( ) const

inlinenoexcept

Check if the history is empty.

get_filter() [1/2]

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

const FilterT& autoware::prediction::History< FilterT, kNumOfStates, EventT >::get_filter ( ) const

inlinenoexcept

Get the filter as a const ref.

get_filter() [2/2]

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

FilterT& autoware::prediction::History< FilterT, kNumOfStates, EventT >::get_filter ( )

inlinenoexcept

Get the filter.

get_last_event()

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

const HistoryEntry& autoware::prediction::History< FilterT, kNumOfStates, EventT >::get_last_event ( ) const

inlinenoexcept

Get last event in history.

get_last_timestamp()

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

const Timestamp& autoware::prediction::History< FilterT, kNumOfStates, EventT >::get_last_timestamp ( ) const

inlinenoexcept

Get last timestamp in history.

size()

template<typename FilterT , std::int32_t kNumOfStates, typename ... EventT>

std::size_t autoware::prediction::History< FilterT, kNumOfStates, EventT >::size ( ) const

inlinenoexcept

Get size of history.

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The documentation for this class was generated from the following file:

• history.hpp